In the .argos file, you need to configure the battery in two places:
Code: Select all
<controllers>
<my_controller ...>
<sensors>
...
<battery implementation="default" />
</sensors>
...
</my_controller>
</controllers>
<arena>
<foot-bot ...>
...
<battery id="battery_0" discharge_model="time" delta="0.001" />
</foot-bot>
</arena>
The parameter "delta" of the battery is how much of the battery is lost at every time step. So, if you want your battery to last 1000 time steps, then delta is 1 / 1000.
I found a small bug in the way the battery is discharged. Please update ARGoS and recompile it from the sources. If you need assistance with that, let me know.
I made ARGoS.